CN108883531A

CN108883531A - robot

Info

Publication number: CN108883531A
Application number: CN201780020916.5A
Authority: CN
Inventors: 鲇泽优; 常田晴弘; 小田切秀行; 渡边洋和
Original assignee: Nidec Corp
Current assignee: Nidec Corp
Priority date: 2016-03-30
Filing date: 2017-03-09
Publication date: 2018-11-23
Anticipated expiration: 2037-03-09
Also published as: JP2017177276A; US11161255B2; WO2017169605A1; JP6684439B2; TW201736062A; TWI704988B; US20200298422A1; KR102123935B1; CN108883531B; KR20180132654A

Abstract

This case is a kind of robot of two joint portions of end for having and being installed on arm in the state of through linking, such as in the joint portion 2 of robot 1, motor and speed reducer are contained in shell 11, the output side member 27 with flange part 27a is fixed on to the output shaft of speed reducer.It is formed with the opening portion being open along the direction orthogonal with the axial direction of the output shaft of speed reducer on shell 11, and is formed with the planar mounting surface orthogonal with the opening direction of opening portion in opening portion.Robot 1 has multiple biaxial joint units 6 being made of two joint portions 2.It is in the robot 1, the flange part 27a for constituting one of joint portion 2A of biaxial joint unit 6, the mounting surface of the shell 11 of joint portion 2D, joint portion 2E and another joint portion 2B, joint portion 2C, joint portion 2E is fixed via coupling member 63 or directly fixed.

Description

Robot

Technical field

The present invention relates to the robots (robot) that one kind has joint portion and arm (arm).

Background technique

In the past, have chassis (base), the first arm for being linked to chassis via two joint portions, connect via two joint portions Tie in the front end side of the first arm the second arm and to be linked to the robot of two joint portions of the front end side of the second arm be people institute Know (referring for example to patent document 1 (Figure 27)).In robot documented by patent document 1, the first arm and the second arm are formed as thin Long cylindrical shape.Moreover, two joint portions for being configured at the both ends of the first arm, the second arm are with wherein one in the robot The axial mode orthogonal to each other with the rotation axis of another joint portion of the rotation of a joint portion links.

Existing technical literature

Patent document

Patent document 1：No. 8410732 specifications of U.S. Patent No.

Summary of the invention

Problem to be solved by the invention

Robot as described in Patent Document 1 like that will be with rotation axis two joints that orthogonal mode links to each other Portion is installed in the robot of the end of arm, and the strength of connection of preferably described two joint portions is high.Moreover, in the robot, It is preferred that rotating the axial axial orthogonal mode of the rotation with another joint portion for two joint portion height with one of joint portion Link to precision.

Therefore, the issue of the present invention is to provide a kind of robot, has the end that arm is installed on the state through linking Two joint portions in portion, and the strength of connection of two joint portions can be improved, and two joint portions can accurately be linked.

Technical means to solve problem

In order to solve the problem, robot of the invention has multiple biaxial joint lists being made of two joint portions Member, and have by two biaxial joint units connection elongate shape arm, and it is characterized in that, joint portion have motor, It is linked to the shell of the speed reducer of motor, the output side member for the output shaft for being fixed on speed reducer and receiving motor and speed reducer Body, motor and speed reducer are fixed on shell, and the shaft of motor, the input shaft of speed reducer and output shaft are configured on coaxial, in shell It is formed with the opening portion being open along the direction orthogonal with the axial direction of output shaft on body, and is formed with and opening portion in opening portion The orthogonal planar mounting surface of opening direction, output side member, which has, is formed as the convex of outside that is circular and being configured at shell Edge will be another if a joint portion in two joint portions for constituting biaxial joint unit is set as wherein side joint portion Joint portion is set as other side joint portion, then with the output shaft of the wherein axial direction of the output shaft of side joint portion and other side joint portion The orthogonal mode of axial direction, the flange part of the wherein mounting surface of side joint portion and other side joint portion is closed via in the other side There is the coupling member of specific thickness in the axial direction of the output shaft in section portion and fix or directly fix, with the longitudinally of arm and separately Arm is installed on joint portion by the mode that the axial direction of the output shaft of side joint portion is orthogonal.

It, will be as the wherein side joint portion of one of joint portion of biaxial joint unit in robot of the invention The flange part of planar mounting surface and the other side joint portion as another joint portion, via in the defeated of other side joint portion There is the coupling member of specific thickness in the axial direction of shaft and fix or directly fix.That is, using planar peace in the present invention Dress face and flange part link two joint portions for constituting biaxial joint unit.Thus, in the present invention, it can be improved and constitute twin shaft pass The strength of connection of two joint portions of unit is saved, and two joint portions can accurately be linked.Moreover, making in the present invention Two joint portions are linked with the flange part of the mounting surface and annular shape that are formed in opening portion, thus using the inner circumferential of flange part Wiring or piping are drawn in side and opening portion between two joint portions.

In the present invention, robot for example has the supporting member for the base end portion for constituting robot, and has the first arm And second arm as arm, and have the base end side biaxial joint unit before being configured at supporting member and the first arm, be configured at The front end side biaxial joint unit of intermediate biaxial joint unit and the front end for being installed on the second arm between one arm and the second arm is made For biaxial joint unit, in the biaxial joint unit of front end side, the front end of the second arm is fixed on to the shell of other side joint portion, and And in the mountable end effector of flange part (end effector) of wherein side joint portion.At this point, for example with will be through linking Three joint portions of state be installed on the front end of the second arm, and a mountable end of joint portion in this three joint portions The case where actuator, is compared, and can reduce the weight of the front end side of the second arm.Thus, it can reduce and born suffered by the base end side of robot Lotus.

In the present invention, the output side member of the wherein side joint portion of base end side biaxial joint unit is preferably fixed on branch Component is supportted, the cardinal extremity of the first arm is fixed on to the shell of the other side joint portion of base end side biaxial joint unit, by the first arm The shell of the other side joint portion of intermediate biaxial joint unit is fixed in front end, and the cardinal extremity of the second arm is fixed on intermediate pair The flange part of the wherein side joint portion of axis joint unit, relative to supporting member, base end side biaxial joint unit can be with cardinal extremity The axial of the output shaft of the wherein side joint portion of side biaxial joint unit is axially relatively rotated as rotation.Relative to first Arm, the second arm can wrapped using the axial axial as rotation of the output shaft of the other side joint portion of intermediate biaxial joint unit It is relatively rotated in the plane in the axle center of the output shaft of the wherein side joint portion of the unit of biaxial joint containing base end side, relative to centre Biaxial joint unit, the second arm can axially be relatively rotated using the longitudinally of the second arm as rotation.If constituting in this way, phase For supporting member, base end side biaxial joint unit can be with the output shaft of the wherein side joint portion of base end side biaxial joint unit It is axial relatively rotated as rotation axial direction, and relative to the first arm, the second arm can include base end side biaxial joint unit Wherein side joint portion output shaft axle center plane on relatively rotate, thus the control of robot becomes easy.

In the present invention, preferably the second arm is more shorter than the first arm, closes to avoid the wherein side of base end side biaxial joint unit The interference of the other side joint portion of section portion and front end side biaxial joint unit.It, can be compact by robot if constituting in this way (compact) it folds.Thus, the bale packing cost or transportation cost of robot can be reduced.

In the present invention, in base end side biaxial joint unit, intermediate biaxial joint unit and front end side biaxial joint unit At least any one can be configured on same plane by the axle center of the output shaft of the joint portion of all biaxial joint units, and base Under end side biaxial joint unit and the immediate face posture of front end side biaxial joint unit, by base end side biaxial joint unit Wherein side joint portion output shaft axle center and front end side biaxial joint unit wherein side joint portion output shaft Axle center is configured at the mode on same straight line, has coupling member.

In the present invention, such as the reduction ratio of all speed reducers possessed by all joint portions is equal to each other.At this point, motor Control becomes easy.

Moreover, in order to solve the problem, robot of the invention has the first joint portion, second joint portion, third pass Section portion, the 4th joint portion, the 5th joint portion, the 6th joint portion, the first arm of elongate shape and elongate shape the second arm, and its Be characterized in that, have constitute robot base end portion supporting member, the first joint portion, second joint portion, third joint, 4th joint portion, the 5th joint portion and the 6th joint portion have motor respectively, the speed reducer for being linked to motor, are fixed on speed reducer Output shaft output side member and accommodate the shell of motor and speed reducer, motor and speed reducer are fixed on shell, motor Shaft, the input shaft of speed reducer and output shaft are configured on coaxial, are formed on shell along orthogonal with the axial direction of output shaft The opening portion of direction opening, and the planar mounting surface orthogonal with the opening direction of opening portion is formed in opening portion, it is defeated Side member has the flange part for being formed as outside that is circular and being configured at shell out, with the axial direction of the output shaft of the first joint portion The mode orthogonal with the axial direction of the output shaft in second joint portion, by the flange part of the mounting surface of the first joint portion and second joint portion It is fixed via the first coupling member in the axial direction of the output shaft in second joint portion with specific thickness or directly fixed, by This constitutes base end side biaxial joint unit, with the axial direction of the axial direction of the output shaft of third joint and the output shaft of the 4th joint portion Orthogonal mode, by the mounting surface of the 4th joint portion and the flange part of third joint via the output shaft in third joint There is the second coupling member of specific thickness in axial direction and fix or directly fix, thus constitute intermediate biaxial joint unit, with The axial direction of the output shaft of the 5th joint portion mode orthogonal with the axial direction of output shaft of the 6th joint portion, by the peace of the 6th joint portion The flange part of dress face and the 5th joint portion connects via the third with specific thickness in the axial direction of the output shaft of the 5th joint portion Structural member and it is fixed or directly fixed, thus composition front end side biaxial joint unit, the output side member of the first joint portion is consolidated Due to supporting member, base end side biaxial joint unit and the first arm are with the axial direction of the output shaft in second joint portion and the first arm The orthogonal mode of longitudinally links, and the cardinal extremity of the first arm is fixed on to the shell in second joint portion, the first arm and centre Biaxial joint unit be linked in the longitudinally of the first arm mode orthogonal with the axial direction of the output shaft of third joint, and The front end of first arm is fixed on to the shell of third joint, intermediate biaxial joint unit and the second arm are with the 4th joint portion The axial direction of output shaft and the consistent mode of longitudinally of the second arm link, and the cardinal extremity of the second arm is fixed on the 4th joint The output side member in portion, the second arm and front end side biaxial joint unit are with the defeated of the longitudinally of the second arm and the 5th joint portion The mode that the axial direction of shaft is orthogonal links, and the front end of the second arm can be fixed on to the shell of the 5th joint portion, closes in the 6th End effector is installed on the output side member in section portion.

In robot of the invention, by the flange part in the planar mounting surface of the first joint portion and second joint portion via First coupling member and fixed or directly fixed, thus composition base end side biaxial joint unit, by the planar of the 4th joint portion Mounting surface and third joint flange part it is fixed via the second coupling member or directly fixed, thus constitute intermediate twin shaft Joint unit, and the flange part of the planar mounting surface of the 6th joint portion and the 5th joint portion is consolidated via third coupling member It is fixed or directly fixed, thus constitute front end side biaxial joint unit.That is, using planar mounting surface and flange in the present invention Portion links two joint portions.Thus, in the present invention, the strength of connection of two joint portions can be improved, and can be by two joints Portion accurately links.Moreover, two are closed using the flange part of the mounting surface and annular shape that are formed in opening portion in the present invention The connection of section portion, thus wiring or piping are drawn between two joint portions using the inner circumferential side of flange part and opening portion.

In the present invention, preferably with respect to the first arm, the second arm can be using the axial as rotation of the output shaft of third joint It is axial, and relatively rotated in the plane in the axle center of the output shaft comprising the first joint portion.If constituting in this way, the control of robot System becomes easy.

In the present invention, preferably the second arm is more shorter than the first arm, to avoid the interference of the first joint portion and the 5th joint portion.If It constitutes in this way, then it can compactly folding machine people.Thus, the bale packing cost or transportation cost of robot can be reduced.

In the present invention, preferably the first joint portion has identical structure, the 5th joint portion and the 6th joint with second joint portion Portion has identical structure, and the 5th joint portion and the 6th joint portion are less than the first joint portion and second joint portion.If constituting in this way, It can reduce the weight of the front end side of robot, as a result can reduce load suffered by the base end side of robot.

In the present invention, preferably third joint has identical structure, the 4th joint with the first joint portion and second joint portion Portion has identical structure with the 5th joint portion and the 6th joint portion, and the first arm and the second arm are formed as cylindric, outside the second arm Outer diameter of the diameter less than the first arm.If constituting in this way, it can further mitigate the weight of the front end side of robot, it as a result can be further Mitigate load suffered by the base end side of robot.

In the present invention, robot for example can be by the output shaft in the axle center of the output shaft of the first joint portion, second joint portion Axle center, the axle center of output shaft of third joint, the axle center of the output shaft of the 4th joint portion, the 5th joint portion output shaft The axle center of the output shaft of axle center and the 6th joint portion is configured on same plane and base end side biaxial joint unit and front end side Under the immediate face posture of biaxial joint unit, by the output in the axle center of the output shaft of the first joint portion and the 6th joint portion The mode of the axle center configuration of axis on the same line, has at least either of the first coupling member and the second coupling member.

The effect of invention

It as described above, can be in two joint portions for having the end for being installed on arm with the state through linking in the present invention Robot in, improve the strength of connection of two joint portions, and two joint portions can accurately be linked.

Detailed description of the invention

Fig. 1 is the front elevation of the industrial robot of embodiments of the present invention.

Fig. 2, (A) are the perspective views of industrial robot shown in FIG. 1, and (B) is to indicate industrial robot shown in (A) The perspective view of the state of direct action.

Fig. 3 is the profilograph of joint portion shown in FIG. 1.

Fig. 4 is for illustrating the first joint portion shown in FIG. 1, second joint portion, third joint, the 4th joint portion, The block diagram of electrical connection between five joint portions and the 6th joint portion.

Fig. 5 is the front elevation of the industrial robot of another embodiment of the present invention.

Fig. 6 is the front elevation of the industrial robot of another embodiment of the present invention.

Fig. 7 is the front elevation of the industrial robot of another embodiment of the present invention.

Fig. 8 is the front elevation of the industrial robot of another embodiment of the present invention.

Specific embodiment

Hereinafter, on the one hand referring to attached drawing, on the one hand embodiments of the present invention will be described.

(outline structure of industrial robot)

Fig. 1 is the front elevation of the industrial robot 1 of embodiments of the present invention.Fig. 2 (A) is shown in FIG. 1 industrial The perspective view of robot 1, Fig. 2 (B) are the perspective views for indicating the state of 1 direct action of industrial robot shown in Fig. 2 (A).

The industrial robot 1 (hereinafter referred to as " robot 1 ") of present embodiment is for assembling or manufacturing regulation product Deng articulated robot, be set to assembly production chain or manufacture assembly line and use.Robot 1 has multiple 2 Hes of joint portion A plurality of arm 3.In present embodiment, robot 1 has six joint portions 2 and two arms 3.Hereinafter, distinguishing by six joint portions 2 It distinguishes in the case where indicating, six joint portions 2 is set to " the first joint portion 2A ", " second joint portion 2B ", " third joint Portion 2C ", " the 4th joint portion 2D ", " the 5th joint portion 2E " and " the 6th joint portion 2F ".Moreover, hereinafter, distinguishing by two arms 3 It distinguishes in the case where indicating, two arms 3 is set to " the first arm 3A " and " the second arm 3B ".

Moreover, robot 1 has the supporting member 4 for the base end portion for constituting robot 1.Supporting member 4 can relatively rotate Ground is linked to the first joint portion 2A.The supporting member 4 is formed to have the cylindrical shape with marginal ridge of flange part 4a, in support structure The inner circumferential side of part 4, be formed with along supporting member 4 axially through through hole (illustration omitted).Flange part 4a is formed as annulus Shape constitutes the bottom surface portions of robot 1.

Arm 3 is formed as elongated elongate shape.Specifically, arm 3 is formed as elongated cylindrical shape.The outer diameter of second arm 3B Less than the outer diameter of the first arm 3A, internal diameter of the internal diameter less than the first arm 3A of the second arm 3B.Moreover, the length of the second arm 3B is than first The length of arm 3A is shorter.

In robot 1, the first joint portion 2A and second joint portion 2B are rotatably linked, by second joint portion 2B It is fixed with the cardinal extremity of the first arm 3A.Moreover, the front end of the first arm 3A is fixed with third joint 2C, by third joint 2C with 4th joint portion 2D rotatably links, and the cardinal extremity of the 4th joint portion 2D and the second arm 3B are rotatably linked, The front end of second arm 3B is fixed with the 5th joint portion 2E, the 5th joint portion 2E and the 6th joint portion 2F is rotatably connected Knot.Moreover, can rotatably install the end effectors such as hand or tool on the 6th joint portion 2F.

In present embodiment, supporting member 4 and first are configured at using the first joint portion 2A and second joint portion 2B composition Base end side biaxial joint unit 6A between arm 3A is configured at the first arm using third joint 2C and the 4th joint portion 2D composition Intermediate biaxial joint unit 6B between 3A and the second arm 3B is installed on using the 5th joint portion 2E and the 6th joint portion 2F composition The front end side biaxial joint unit 6C of the front end of second arm 3B.That is, robot 1 has multiple pairs be made of two joint portions 2 Axis joint unit 6 and the arm 3 for linking two biaxial joint units 6.Specifically, robot 1 has three biaxial joint lists Member 6 and two arms 3.

Moreover, the first joint portion 2A, the 4th joint portion 2D and the 6th joint portion 2F, which become, constitutes twin shaft in present embodiment A joint portion 6 in two joint portions 6 of joint unit 6, i.e. wherein side joint portion.Second joint portion 2B, third joint Portion 2C and the 5th joint portion 2E becomes another joint portion 6 in two joint portions 6 for constituting biaxial joint unit 6, the i.e. other side Joint portion.Hereinafter, being illustrated to the specific structure of joint portion 2.

In addition, the first joint portion 2A, second joint portion 2B and third joint 2C have identical knot in present embodiment Structure, the 4th joint portion 2D, the 5th joint portion 2E and the 6th joint portion 2F have identical structure.That is, as shown in Figure 1, first Joint portion 2A, second joint portion 2B and third joint 2C are formed with same size, the 4th joint portion 2D, the 5th joint portion 2E and the 6th joint portion 2F is formed with same size.Moreover, the 4th joint portion 2D, the 5th joint portion 2E and the 6th joint portion 2F is less than the first joint portion 2A, second joint portion 2B and third joint 2C.

Wherein, the first joint portion 2A, second joint portion 2B and third joint 2C and the 4th joint portion 2D, the 5th joint portion 2E and the 6th joint portion 2F are similarly constituted other than aspect of different sizes.Thus, the first joint portion 2A, second joint Portion 2B, third joint 2C, the 4th joint portion 2D, the 5th joint portion 2E and the 6th joint portion 2F are each provided with described below The reduction ratio of speed reducer 8 is all equal.That is, the reduction ratio for six speed reducers 8 that six joint portions 2 have is equal to each other.

(structure of joint portion)

Fig. 3 is the profilograph of joint portion 2 shown in FIG. 1.Fig. 4 is for illustrating the first joint portion 2A shown in FIG. 1, the Pass is electrically connected between two joint portion 2B, third joint 2C, the 4th joint portion 2D, the 5th joint portion 2E and the 6th joint portion 2F The block diagram of system.Hereinafter, its opposite side, that is, Z2 direction side is set as purposes of illustration only, the Z1 direction side of Fig. 3 is set as "upper" side "lower" side.

Joint portion 2 (more specifically, the first joint portion 2A, second joint portion 2B, third joint 2C, the 4th joint portion 2D, the 5th joint portion 2E and the 6th joint portion 2F are respectively) have：Motor 7；Speed reducer 8 is linked to motor 7；Position detecting mechanism 9, for detecting the rotation position of motor 7；Circuit substrate 10 is electrically connected motor 7 and position detecting mechanism 9；And shell 11, it receives Hold motor 7, speed reducer 8, position detecting mechanism 9 and circuit substrate 10.Motor 7 is centrally formed in through hole in radial Empty motor has the shaft 13 of hollow form.Moreover, motor 7 has rotor 14 and stator 15.Speed reducer 8 is at radial center It is formed with the hollow reducer of through hole.Motor 7 with speed reducer 8 is configured in mode be overlapped in the up-down direction.It is specific and Speech, is configured at upside for motor 7, and speed reducer 8 is configured at downside.Moreover, motor 7 is configured on coaxial with speed reducer 8.

The speed reducer 8 of present embodiment is hollow wave geared system, has rigid internal-gear 16, flexible external tooth tooth Wheel 17, fluctuation generating unit 18 and crossed roller bearing (crossed roller bearing) 19.Fluctuation generating unit 18 has company Tie in the hollow form of shaft 13 input shaft 20 and be installed on input shaft 20 peripheral side ripple bearing (wave bearing) 21.In present embodiment, rigid internal-gear 16 becomes the output shaft of speed reducer 8.Moreover, in present embodiment, as deceleration The shaft 13 of the rigid internal-gear 16 of the output shaft of machine 8, the input shaft 20 of speed reducer 8 and motor 7 is configured on coaxial.And And joint portion 2 (more specifically, the first joint portion 2A, second joint portion 2B, third joint 2C, the 4th joint portion 2D, Five joint portion 2E and the 6th joint portion 2F are respectively) have the rotation constrained mechanism 25 for the rotation for limiting the rotor 14 stopped, intert To shaft 13 and the tubular of the inner circumferential side of input shaft 20 tubular element 26 and be fixed on the outlet side structure of rigid internal-gear 16 Part 27.

As described above, motor 7 has rotor 14 and stator 15.Rotor 14 has shaft 13 and is fixed on shaft 13 Driving magnet 29.Shaft 13 is formed as elongated substantially cylindric in the up-down direction, and with the axial direction of shaft 13 and up and down The consistent mode in direction configures.That is, up and down direction be the axial direction of shaft 13 and be rotor 14 axial direction.The driving formation of magnet 29 For cylindrical shape.The length (length of up and down direction) of driving magnet 29 is more shorter than shaft 13, and driving magnet 29, which is fixed on, to be turned The outer peripheral surface of the lower end side section of axis 13.In present embodiment, with the lower end surface of the lower end surface of shaft 13 and driving magnet 29 Driving magnet 29 is fixed on the outer peripheral surface of shaft 13 by consistent mode.

Stator 15 is integrally formed into substantially cylindrical shape, and drive is configured in a manner of the outer peripheral surface of magnet 29 to cover driving Employ the peripheral side of magnet 29.Side is prominent more up than the upper surface of stator 15 for the upper end side section of shaft 13.Stator 15 has Driving coil and the stator core that multiple salient poles of driving coil are wound with Jie's used outside insulated body (insulator). The salient pole of stator core be by towards inner circumferential side it is outstanding in a manner of formed, the front end face of salient pole and the driving outer peripheral surface of magnet 29 In opposite directions.Motor 7 is fixed on shell 11.Specifically, the outer peripheral surface of stator 15 is fixed on shell 11.

As described above, speed reducer 8 has rigid internal-gear 16, flexible external gear 17, fluctuation generating unit 18 And crossed roller bearing 19.Rigid internal-gear 16 is formed as flat substantially cylindrical shape, and with the axis of rigid internal-gear 16 It is configured to the consistent mode of up and down direction.That is, up and down direction becomes the rigid internal-gear 16 of the output shaft as speed reducer 8 Axial direction.Rigid internal-gear 16 is fixed on the lubrication groove 19a of crossed roller bearing 19.The foreign steamer 19b of crossed roller bearing 19 is solid Due to the lower end side section of shell 11, rigid internal-gear 16 is rotatably held in shell 11 via crossed roller bearing 19 Lower end side section.

Flexible external gear 17 is formed as the substantially tubular with marginal ridge that upper end has flange part 17a.Flange part 17a shape Shell 11 is fixed on as substantially annular shape, the periphery side section of flange part 17a.That is, speed reducer 8 is fixed on shell 11.Rigidity The lower end side section of the composition speed reducer 8 of internal-gear 16.The upper end side section of flange part 17a composition speed reducer 8.In rigid internal tooth The inner peripheral surface of gear 16 is formed with internal tooth.In the outer peripheral surface of the lower end side of flexible external gear 17, it is formed with and rigid internal tooth The external tooth of the interior tooth engagement of gear 16.

As described above, fluctuation generating unit 18 has input shaft 20 and ripple bearing 21.Input shaft 20 is integrally formed into Elongated tubular in the up-down direction, and configured in such a way that the axial direction of input shaft 20 and up and down direction are consistent.Input shaft 20 Part other than the side section of lower end is formed as elongated substantially cylindrical shape.The lower end side section of input shaft 20 becomes elliptical section 20a, Become circular shape from the shape of inner peripheral surface when the axial viewing of input shaft 20, from periphery when the axial viewing of input shaft 20 The shape in face becomes elliptical shape.

The upper end side partial insertion of input shaft 20 to shaft 13 lower end side section inner circumferential side and through fixation.It is specific and Speech, the inner circumferential side of the upper end side partial insertion of input shaft 20 to the part for being fixed with driving magnet 29 of shaft 13 and through solid It is fixed.As described above, shaft 13 is configured on coaxial with input shaft 20.Moreover, the upper end side section of input shaft 20 passes through bonding It is fixed on shaft 13.

The central part of input shaft 20 in up and down direction is rotatably supported at bearing 30.Bearing 30 is ball bearing.This Bearing 30 is installed on bearing retainer member 31, and bearing retainer member 31 is fixed on shell 11.That is, input shaft 20 is pivotably supported In the bearing 30 for being installed on shell 11 via bearing retainer member 31.Bearing retainer member 31 is formed as circular and plate Shape, and shell 11 is fixed in a manner of Chong Die with the flange part 17a of flexible external gear 17 in the up-down direction.

Ripple bearing 21 is the ball bearing for having flexible lubrication groove and foreign steamer.This ripple bearing 21 is along elliptical section The outer peripheral surface of 20a and configure, bend to ellipticity.The formation of flexible external gear 17 has the lower end side section of external tooth to surround The mode of ripple bearing 21 is configured at the peripheral side of ripple bearing 21, this part bends to ellipticity.Flexible external gear 17 External tooth at the two of the long axis direction for the lower end side section for bending to elliptoid flexible external gear 17, with rigid internal tooth The interior tooth engagement of gear 16.

Output side member 27 is formed to have the substantially cylindric with marginal ridge of flange part 27a and canister portion 27b.This outlet side Component 27 be by export the axial direction of side member 27 and up and down direction it is consistent in a manner of configure, output side member 27 inner circumferential side, It is formed with the through hole 27c penetrated through along the vertical direction.Flange part 27a is formed as tabular and annular shape, the lower end with canister portion 27b It is connected.Flange part 27a is fixed on just in a manner of the following table face contact of the upper surface of flange part 27a and rigid internal-gear 16 Property internal-gear 16.Moreover, flange part 27a be configured at than shell 11 lower end more on the lower, and be configured at the outside of shell 11.

In the upper end side of canister portion 27b, it is small diameter portion 27d more smaller than the lower end side section of canister portion 27b to be formed with outer diameter, in cylinder The peripheral side of the upper end side section of portion 27b is formed with the circular scale face 27e orthogonal with up and down direction.Small diameter portion 27d is inserted Enter to the inner circumferential side of the lower end side section of tubular element 26, the lower end surface of tubular element 26 and scale face 27e are opposite.Moreover, passing through Through-hole 27c is connected to the inner circumferential side of tubular element 26.The upper end side section of canister portion 27b is configured at the lower end side section of input shaft 20 Inner circumferential side.Bearing 34 is configured between the inner peripheral surface of the lower end side section of the outer peripheral surface and input shaft 20 of canister portion 27b.Bearing 34 be ball bearing.

Tubular element 26 is formed as cylindrical shape elongated in the up-down direction, and with the axial direction and upper and lower of tubular element 26 It is configured to consistent mode.As described above, tubular element 26 interts the inner circumferential side to shaft 13 and input shaft 20.Tubulose structure The upper surface of part 26 is configured at more upper than the upper surface of shaft 13, and the lower end surface of tubular element 26 is configured at than input shaft 20 Lower end surface it is upper.Moreover, as described above, tubular element 26 lower end side section inner circumferential side inserted with output The lower end side of the small diameter portion 27d of the side member 27 and lower end surface of tubular element 26 and scale face 27e are opposite, tubular element 26 are protected It is held in output side member 27.

The upper end side of tubular element 26 is held in holding member 32.Holding member 32 is fixed on pillar 33, and pillar 33 is fixed In shell 11.That is, holding member 32 is fixed on shell 11 via pillar 33.Holding member 32, which has, keeps tubular element 26 The cylindric maintaining part 32a of upper end side.Maintaining part 32a is matched in such a way that the axial direction of maintaining part 32a and up and down direction are consistent It sets, in the inner circumferential side of maintaining part 32a, is formed with the through hole 32b penetrated through along the vertical direction.

In the lower end side of maintaining part 32a, it is formed with the internal diameter large-diameter portion 32c bigger than the upper end side of maintaining part 32a, is being protected The inner circumferential side for holding the lower end side section of portion 32a is formed with the circular scale face 32d orthogonal with up and down direction.Tubular element 26 upper end side is inserted into the inner circumferential side of large-diameter portion 32c, and the upper surface of tubular element 26 and scale face 32d are opposite.Moreover, perforation Hole 32b is connected to the inner circumferential side of tubular element 26.

Position detecting mechanism 9 is configured at the upside of stator 15.The position detecting mechanism 9, which has, is fixed on the upper of shaft 13 The slit plate 36 and sensor 37 of end side.Sensor 37 is that have the light-emitting component configured in a manner of toward each other to connect with light Receive the optical sensor of the transmission-type of element.Sensor 37 is fixed on supporting member 38.Supporting member 38 is fixed on shell 11. That is, sensor 37 is fixed on shell 11 via supporting member 38.Slit plate 36 is formed as thin tabular and is formed as round It is cyclic annular.In slit plate 36, the circumferential direction along slit plate 36 is formed with multiple slit pores at certain intervals.Slit plate 36 is with will be narrow The mode that circumferential a part of seam plate 36 is configured between the light-emitting component and light receiving element of sensor 37 is fixed on shaft 13。

Shell 11 is by 42 structures of lid of the upper end side opening of the shell ontology 41 and blocking shell ontology 41 of upper and lower ends opening At.The opening of the lower end side of shell ontology 41 is blocked by speed reducer 8.In the side of shell ontology 41, it is formed with edge and up and down direction The opening portion 41a of orthogonal direction opening.That is, being formed with the opening being open along the direction orthogonal with up and down direction on shell 11 Portion 41a.Opening portion 41a is formed in a manner of penetrating through the lateral parts of shell ontology 41.

Moreover, as shown in Figure 3, opening portion 41a is formed as with the poroid of rank, and in opening portion, 41a is formed with and is open The orthogonal planar mounting surface 41b of the opening direction of portion 41a.That is, being formed with parallel with up and down direction put down in opening portion 41a The mounting surface 41b of planar.Mounting surface 41b is formed in the periphery surface side of the shell ontology 41 of opening portion 41a.Moreover, mounting surface 41b shape As annular shape.The outer diameter of mounting surface 41b and the outer diameter of flange part 27a are roughly equal.

Rotation constrained mechanism 25 is contained in shell 11.This rotation constrained mechanism 25 has the tabular for being fixed on rotor 14 And substantially circular rotary side limiting member 45, engages with rotary side limiting member 45 and limit rotary side limiting member 45 and exist The affixed side limiting member 46 moved up in the week of rotor 14, the driving machine for moving affixed side limiting member 46 vertically Structure 47 and the linear bushings for vertically guiding affixed side limiting member 46 (linear bush) 48.Driving mechanism 47 has For the compression helical spring 49 to exert a force to affixed side limiting member 46 to upside and move downward affixed side limiting member 46 Solenoid 50.

Affixed side limiting member 46 is formed as upper end with flange part 46a with the cylindric of marginal ridge, and to fix lateral confinement The axial direction of component 46 processed is configured with the consistent mode of up and down direction.Affixed side limiting member 46 is fixed on configuration and limits in affixed side The plunger 50a of the solenoid 50 of the upside of component 46.In the lower end surface of affixed side limiting member 46, it is formed with to upside recess Recess portion is configured with the upper end side section of compression helical spring 49 in this recess portion.

Linear bushings 48 be formed as upper end have flange part the cylindrical shape with marginal ridge, and with the axial direction of linear bushings 48 with The consistent mode of up and down direction configures.The part of the ratio flange part of linear bushings 48 more on the lower, which is configured at, is formed in supporting member In the recess portion of 38 upper surface.In the bottom surface of this recess portion, configuration compression helical spring 49 is formed in a manner of being recessed to downside Lower end side section recess.In the inner circumferential side of linear bushings 48, more than flange part 46a configured with affixed side limiting member 46 Part on the lower.

Rotary side limiting member 45 is consolidated in such a way that the thickness direction of rotary side limiting member 45 and up and down direction are consistent Due to the upper surface of shaft 13, and it is configured at more upper than position detecting mechanism 9.Rotary side limiting member 45 is in rotor 14 In circumferential direction, radial outside multiple protrusions outstanding of oriented rotor 14 are formed at certain intervals.

When solenoid 50 and non-power status, by the power of compression helical spring 49 applied, affixed side limits structure Part 46 is with the prominent of the rotary side limiting member 45 that is configured at the flange part 46a of affixed side limiting member 46 in the circumferential direction of rotor 14 Mode between rising rises.Thus, the rotor 14 of stopping is limited using the protrusion and flange part 46a of rotary side limiting member 45 Rotation.On the other hand, if solenoid 50 becomes energized state, as shown in Figure 3, the downward side plunger 50a is prominent, affixed side Limiting member 46 declines, until flange part 46a leaves between the protrusion of the rotary side limiting member 45 in the circumferential direction of rotor 14. Thus, rotor 14 is rotatable.

Circuit substrate 10 is the hard substrates such as glass epoxy substrate, and is formed as tabular.The circuit substrate 10 be with The thickness direction and the consistent mode of up and down direction of circuit substrate 10 are fixed on shell 11.Moreover, circuit substrate 10 is fixed on shell The upper end side of body 11, and be configured at more upper than rotary side limiting member 45.The upper end of tubular element 26, which is configured at, compares circuit The upper surface of substrate 10 is upper.

As shown in Figure 4, the motor drive circuit 58 for drive motor 7 is installed on circuit substrate 10 and is used In the signal transfering circuit 59 that the signal that will be input to circuit substrate 10 is exported to the outside of circuit substrate 10.Moreover, in circuit Connector 61, the connector 62 of the end of connection wiring 60 are installed on substrate 10.Specifically, by least two connectors 61, connector 62 is installed on circuit substrate 10.Connector 61, connector 62 are installed on the upper surface of circuit substrate 10.In addition, even Connect device 61, connector 62 be convex or spill connector, the connection of convex or spill by being fixed on the end of wiring 60 Device is sticked in connector 61, connector 62, and the end of wiring 60 is connected to connector 61, connector 62.

Signal transfering circuit 59 is, for example, to (specifically come from the output signal from position detecting mechanism 9 The output signal of sensor 37) or the signal that carries out that treated on circuit substrate 10 to the output signal from connector 61 Or connector 62 is arranged to the external output of circuit substrate 10.Moreover, signal transfering circuit 59 is in order to will be from connector 61 The signal of input is exported from connector 62, will be exported and is arranged from the signal that connector 62 inputs from connector 61.

(connecting structure of joint portion, arm)

As described above, supporting member 4 and the first joint portion 2A are rotatably linked, by the first joint portion 2A Rotatably link with second joint portion 2B, second joint portion 2B and the cardinal extremity of the first arm 3A are fixed, by the first arm 3A Front end fixed with third joint 2C, third joint 2C and the 4th joint portion 2D are rotatably linked, by the 4th Joint portion 2D and the cardinal extremity of the second arm 3B rotatably link, and the front end of the second arm 3B is fixed with the 5th joint portion 2E, 5th joint portion 2E and the 6th joint portion 2F is rotatably linked.Specifically, for example Fig. 2 can be carried out with robot 1 (B) mode of movement shown in as described below links each joint portion 2 and arm 3.

In addition, the axial direction of the rigid internal-gear 16 of the first joint portion 2A is set as " the first joint portion in the following description The axial direction of the rigid internal-gear 16 of second joint portion 2B is set as " axial direction of second joint portion 2B ", by third by the axial direction of 2A " The axial direction of the rigid internal-gear 16 of joint portion 2C is set as " axial direction of third joint 2C ", will be in the rigidity of the 4th joint portion 2D The axial direction of gear 16 is set as " axial direction of the 4th joint portion 2D ", and the axial direction of the rigid internal-gear 16 of the 5th joint portion 2E is set For " axial direction of the 5th joint portion 2E ", the axial direction of the rigid internal-gear 16 of the 6th joint portion 2F is set as " the 6th joint portion 2F Axial direction ".

Firstly, supporting member 4 and the first joint portion 2A be by by the first joint portion 2A output side member 27 flange Portion 27a is fixed on supporting member 4 and links.Specifically, supporting member 4 and the first joint portion 2A are by by the first joint portion The flange part 27a of 2A is fixed on the end face of the side that flange part 4a is not formed of supporting member 4 and links.That is, being closed with first The axial direction of section portion 2A and the consistent mode of axial direction of supporting member 4 are (more specifically, with the rigid internal tooth tooth of the first joint portion 2A The axle center of wheel 16 and the consistent mode in axle center of supporting member 4), supporting member 4 and the first joint portion 2A are linked.First joint The through hole 27c of the output side member 27 of portion 2A is connected to the through hole of supporting member 4.

First joint portion 2A and second joint portion 2B is with the axial direction of the axial direction of the first joint portion 2A and second joint portion 2B Orthogonal mode links.Moreover, by the flange part of the mounting surface 41b of the shell 11 of the first joint portion 2A and second joint portion 2B 27a is directly fixed, and second joint portion 2B is fixed in the side that the formation of the shell ontology 41 of the first joint portion 2A has opening portion 41a Flange part 27a.One of face (the following table surface of Fig. 3) of the flange part 27a of second joint portion 2B is connected to the first joint The mounting surface 41b of portion 2A.The flange part 27a of second joint portion 2B blocks the opening portion 41a of the shell ontology 41 of the first joint portion 2A, The through hole 27c of the output side member 27 of second joint portion 2B is connected to the inside of the shell 11 of the first joint portion 2A.

In this way, by the axial direction of the first joint portion 2A mode orthogonal with the axial direction of second joint portion 2B by the first joint The flange part 27a of the mounting surface 41b and second joint portion 2B of portion 2A are directly fixed, and constitute base end side biaxial joint unit 6A. Moreover, relative to supporting member 4, base end side biaxial joint unit 6A can using the first joint portion 2A it is axial as rotation axial direction and It relatively rotates.

Second joint portion 2B and the first arm 3A is with the longitudinally (axis of the axial direction of second joint portion 2B and the first arm 3A To) orthogonal mode links.That is, base end side biaxial joint unit 6A and the first arm 3A are with the axial direction of second joint portion 2B and the The mode that the longitudinally of one arm 3A is orthogonal links.Moreover, the cardinal extremity of the first arm 3A to be fixed on to the shell of second joint portion 2B 11.Specifically, the formation that the cardinal extremity of the first arm 3A is fixed on the shell ontology 41 of second joint portion 2B is had the one of opening portion 41a Side.The opening portion 41a of the shell ontology 41 of the cardinal extremity blocking second joint portion 2B of first arm 3A, the inner circumferential side and second of the first arm 3A The inside of the shell 11 of joint portion 2B is connected to.

First arm 3A is orthogonal with the axial direction of third joint 2C with the longitudinally of the first arm 3A with third joint 2C Mode link.That is, the first arm 3A and centre biaxial joint unit 6B are with the longitudinally and third joint of the first arm 3A The mode that the axial direction of 2C is orthogonal links.Moreover, the front end of the first arm 3A to be fixed on to the shell 11 of third joint 2C.It is specific and The formation that the shell ontology 41 of third joint 2C is fixed in the front end of first arm 3A, is there is the side of opening portion 41a by speech.First arm The opening portion 41a of the shell ontology 41 of the front end blocking third joint 2C of 3A, the inner circumferential side of the first arm 3A and third joint 2C Shell 11 inside connection.

Third joint 2C and the 4th joint portion 2D is with the axial direction of the axial direction of third joint 2C and the 4th joint portion 2D Orthogonal mode links.Moreover, connecting via as second with specific thickness (length) in the axial direction of third joint 2C The coupling member 63 of structural member, by the flange part 27a of the mounting surface 41b of the shell 11 of the 4th joint portion 2D and third joint 2C It is fixed, there is the side of opening portion 41a to be fixed on via coupling member 63 the formation of the shell ontology 41 of the 4th joint portion 2D The flange part 27a of three joint portion 2C.In this way, by orthogonal with the axial direction of the 4th joint portion 2D with the axial direction of third joint 2C Mode fixes the flange part 27a of the mounting surface 41b of the 4th joint portion 2D and third joint 2C via coupling member 63, and Constitute intermediate biaxial joint unit 6B.

Coupling member 63 is formed as the cylindrical shape with marginal ridge, has the convex of the flange part 27a for being fixed on third joint 2C Edge 63a.This coupling member 63 blocks the opening portion 41a of the shell ontology 41 of the 4th joint portion 2D, along the axial direction of coupling member 63 The through hole 27c of the output side member 27 of the through hole and third joint 2C of perforation is interior with the shell 11 of the 4th joint portion 2D Portion's connection.In addition, the end face of the side that flange part 63a is not formed of coupling member 63 is connected to the installation of the 4th joint portion 2D Face 41b.

4th joint portion 2D is consistent with the longitudinally of the second arm 3B with the axial direction of the 4th joint portion 2D with the second arm 3B Mode it is (more specifically, consistent with the axle center of the rigid internal-gear 16 of the 4th joint portion 2D and the axle center of the second arm 3B Mode) connection.That is, centre biaxial joint unit 6B and the second arm 3B are with the vertical of the axial direction of the 4th joint portion 2D and the second arm 3B The consistent mode of length direction links.Moreover, the cardinal extremity of the second arm 3B to be fixed on to the flange part 27a of the 4th joint portion 2D.

Thus, relative to the first arm 3A, the second arm 3B can be using the axial axial and opposite as rotating of third joint 2C Rotation.Moreover, the second arm 3B can be with the longitudinally of the second arm 3B (that is, the 4th joint relative to intermediate biaxial joint unit 6B The axial direction of portion 2D) it is axially relatively rotated as rotation.The inner circumferential side of second arm 3B and the output side member of the 4th joint portion 2D 27 through hole 27c connection.In addition, being formed in the cardinal extremity of the second arm 3B for the cardinal extremity of the second arm 3B to be fixed on the 4th The flange part 3a of the flange part 27a of joint portion 2D, the flange part 27a of the 4th joint portion 2D and flange part 3a is fixed to one another.

Second arm 3B is orthogonal with the axial direction of the 5th joint portion 2E with the longitudinally of the second arm 3B with the 5th joint portion 2E Mode link.That is, the second arm 3B and front end side biaxial joint unit 6C are with the longitudinally of the second arm 3B and the 5th joint The mode that the axial direction of portion 2E is orthogonal links.Moreover, the front end of the second arm 3B to be fixed on to the shell 11 of the 5th joint portion 2E.Specifically For, the formation that the shell ontology 41 of the 5th joint portion 2E is fixed in the front end of the second arm 3B is had to the side of opening portion 41a.Second The front end of arm 3B blocks the opening portion 41a of the shell ontology 41 of the 5th joint portion 2E, the inner circumferential side of the second arm 3B and the 5th joint portion The inside of the shell 11 of 2E is connected to.

5th joint portion 2E and the 6th joint portion 2F is with the axial direction of the axial direction of the 5th joint portion 2E and the 6th joint portion 2F Orthogonal mode links.Moreover, by the flange part of the mounting surface 41b of the shell 11 of the 6th joint portion 2F and the 5th joint portion 2E 27a is directly fixed, and the 5th joint portion 2E is fixed in the side that the formation of the shell ontology 41 of the 6th joint portion 2F has opening portion 41a Flange part 27a.The wherein one side (lower surface of Fig. 3) of the flange part 27a of 5th joint portion 2E is connected to the 6th joint portion 2F Mounting surface 41b.The opening portion 41a of the shell ontology 41 of the 6th joint portion 2F of flange part 27a blocking of 5th joint portion 2E, the 5th The through hole 27c of the output side member 27 of joint portion 2E is connected to the inside of the shell 11 of the 6th joint portion 2F.

In this way, the 6th is closed by the mode orthogonal with the axial direction of the 6th joint portion 2F with the axial direction of the 5th joint portion 2E The flange part 27a of the mounting surface 41b and the 5th joint portion 2E of section portion 2F are directly fixed, and constitute front end side biaxial joint unit 6C.Moreover, as described above, mountable end effector on the 6th joint portion 2F.Specifically, the 6th joint portion 2F's Export the mountable end effector of flange part 27a of side member 27.

In present embodiment, by the axle center of the rigid internal-gear 16 of the first joint portion 2A, second joint portion 2B it is rigid The axle center of property internal-gear 16, the axle center of the rigid internal-gear 16 of third joint 2C, the 4th joint portion 2D rigid internal tooth The axle center of gear 16, the 5th joint portion 2E rigid internal-gear 16 axle center and the 6th joint portion 2F rigid internal-gear 16 Axle center configuration in the same plane, and base end side biaxial joint unit 6A and front end side biaxial joint unit 6C are immediate Under face posture (Fig. 1 and Fig. 2 (A) shown in posture), by the axle center and second of the rigid internal-gear 16 of the first joint portion 2A The axle center of arm 3B is configured on same straight line.

Thus, relative to the first arm 3A, the second arm 3B can wrapped using the axial axial as rotation of third joint 2C It is rotated in the plane in the axle center of the rigid internal-gear 16 containing the first joint portion 2A.Moreover, the second arm 3B is more shorter than the first arm 3A, So that the first joint portion 2A and the 5th joint portion 2E are not interfered (to avoid the interference of the first joint portion 2A and the 5th joint portion 2E).

(wire structures of wiring)

Hereinafter, being illustrated to the wire structures of the wiring 60 of the inside of robot 1.In the following description, first is closed The circuit substrate 10 of section portion 2A is set as " circuit substrate 10A ", and the circuit substrate 10 of second joint portion 2B is set as " circuit substrate The circuit substrate 10 of third joint 2C is set as " circuit substrate 10C ", the circuit substrate 10 of the 4th joint portion 2D is set by 10B " For " circuit substrate 10D ", the circuit substrate 10 of the 5th joint portion 2E is set as " circuit substrate 10E ", by the 6th joint portion 2F's Circuit substrate 10 is set as " circuit substrate 10F ".

As shown in Figure 4, between the 6th joint portion 2F and the 5th joint portion 2E, using wiring 60 by the 6th joint portion The connector 61 of the circuit substrate 10F of 2F is connect with the connector 62 of the circuit substrate 10E of the 5th joint portion 2E.That is, one end connects The other end for the wiring 60 for being connected to the connector 61 of circuit substrate 10F and stretching out from the shell 11 of the 6th joint portion 2F is connected to The connector 62 of circuit substrate 10E.This wiring 60 is in a manner of through the opening portion 41a of the 6th joint portion 2F from the 6th joint portion The shell 11 of 2F stretches out, and to pass through the through hole 27c and the 5th joint portion 2E of the output side member 27 of the 5th joint portion 2E The mode of the inner circumferential side of tubular element 26 is routed, and the connector 62 of circuit substrate 10E is connected to.

Between the 5th joint portion 2E and the 4th joint portion 2D, using wiring 60 by the circuit substrate of the 5th joint portion 2E The connector 61 of 10E is connect with the connector 62 of the circuit substrate 10D of the 4th joint portion 2D.That is, one end is connected to circuit substrate The other end of the connector 61 of 10E and the wiring 60 stretched out from the shell 11 of the 5th joint portion 2E is connected to circuit substrate 10D Connector 62.This wiring 60 is in a manner of through the opening portion 41a of the 5th joint portion 2E from the shell 11 of the 5th joint portion 2E It stretches out, and to pass through the through hole 27c of the output side member 27 of the inner circumferential side of the second arm 3B, the 4th joint portion 2D and the 4th joint The mode of the inner circumferential side of the tubular element 26 of portion 2D is routed, and the connector 62 of circuit substrate 10D is connected to.

Between the 4th joint portion 2D and third joint 2C, using wiring 60 by the circuit substrate of the 4th joint portion 2D The connector 62 of the circuit substrate 10C of the connector 61 and third joint 2C of 10D is connect.That is, one end is connected to circuit substrate The other end of the connector 61 of 10D and the wiring 60 stretched out from the shell 11 of the 4th joint portion 2D is connected to circuit substrate 10C Connector 62.This wiring 60 is in a manner of through the opening portion 41a of the 4th joint portion 2D from the shell 11 of the 4th joint portion 2D It stretches out, and to be closed by the through hole 27c and third of the output side member 27 of the through hole of coupling member 63, third joint 2C The mode of the inner circumferential side of the tubular element 26 of section portion 2C is routed, and the connector 62 of circuit substrate 10C is connected to.

Between third joint 2C and second joint portion 2B, using wiring 60 by the circuit substrate of third joint 2C The connector 61 of 10C is connect with the connector 62 of the circuit substrate 10B of second joint portion 2B.That is, one end is connected to circuit substrate The other end of the connector 61 of 10C and the wiring 60 stretched out from the shell of third joint 2C 11 is connected to circuit substrate 10B Connector 62.This wiring 60 is in a manner of the opening portion 41a by third joint 2C from the shell 11 of third joint 2C It stretches out, and is routed in a manner of through the opening portion 41a of the inner circumferential side of the first arm 3A and second joint portion 2B, be connected to circuit The connector 62 of substrate 10B.

Between second joint portion 2B and the first joint portion 2A, using wiring 60 by the circuit substrate of second joint portion 2B The connector 61 of 10B is connect with the connector 62 of the circuit substrate 10A of the first joint portion 2A.That is, one end is connected to circuit substrate The other end of the connector 61 of 10B and the wiring 60 stretched out from the shell 11 of second joint portion 2B is connected to circuit substrate 10A Connector 62.This wiring 60 is to pass through the output of the inner circumferential side of the tubular element 26 of second joint portion 2B and second joint portion 2B The mode of the through hole 27c of side member 27 is stretched out from the shell 11 of second joint portion 2B, and with opening by the first joint portion 2A The mode of oral area 41a is routed, and the connector 62 of circuit substrate 10A is connected to.

In addition, the connector 61 of circuit substrate 10A is connected to the controller 65 of robot 1 via wiring 60.This wiring 60 to pass through the through hole of the inner circumferential side of the tubular element 26 of the first joint portion 2A and the output side member 27 of the first joint portion 2A The mode of 27c is stretched out from the shell 11 of the first joint portion 2A, and is routed in a manner of through the through hole of supporting member 4.

(main effect of present embodiment)

As mentioned above, in present embodiment, by by the mounting surface 41b of the first joint portion 2A and second joint portion 2B Flange part 27a it is directly fixed and constitute base end side biaxial joint unit 6A, by via coupling member 63 by the 4th joint portion The flange part 27a of the mounting surface 41b and third joint 2C of 2D are fixed and are constituted intermediate biaxial joint unit 6B, by by the 6th The flange part 27a of the mounting surface 41b of joint portion 2F and the 5th joint portion 2E are directly fixed and constitute front end side biaxial joint unit 6C.That is, two joint portions 2 are linked using planar mounting surface 41b and flange part 27a in present embodiment.Thus, this In embodiment, the strength of connection of two joint portions 2 can be improved, and two joint portions 2 can accurately be linked.Moreover, In present embodiment, the flange part 27a using the mounting surface 41b and annular shape that are formed in opening portion 41a connects two joint portions 2 Knot, thus wiring 60 is routed between two joint portions 2 using the inner circumferential side of flange part 27a and opening portion 41a.

In present embodiment, relative to supporting member 4, base end side biaxial joint unit 6A can be with the axis of the first joint portion 2A It is axially relatively rotated to as rotation.Moreover, in present embodiment, relative to the first arm 3A, the second arm 3B can be closed with third The axial axial direction as rotation of section portion 2C, and in the plane in the axle center of the rigid internal-gear 16 comprising the first joint portion 2A Rotation.Thus, in present embodiment, the control of robot 1 is become easy.

In present embodiment, under the face posture of the robot 1 shown in Fig. 1 and Fig. 2 (A), by the first joint portion 2A's The axle center of rigid internal-gear 16 and the axle center of the second arm 3B are configured on same straight line, and make the second arm 3B than the first arm 3A It is shorter so that the first joint portion 2A and the 5th joint portion 2E is not interfered.It thus, can compactly folding machine people in present embodiment 1, it as a result can reduce the bale packing cost or transportation cost of robot 1.

In present embodiment, the 5th joint portion 2E and the 6th joint portion 2F are less than the first joint portion 2A and second joint portion 2B.Thus, it in present embodiment, can reduce the weight of the front end side of robot 1, as a result can reduce the base end side institute of robot 1 The load received.Especially in present embodiment, the 4th joint portion 2D is less than third joint 2C, and the outer diameter of the second arm 3B is less than The outer diameter of first arm 3A, and the second arm 3B is more shorter than the first arm 3A, thus can further mitigate the weight of the front end side of robot 1 Amount.Thus, in present embodiment, it can further mitigate load suffered by the base end side of robot 1.

(other embodiments)

The embodiment is an example of suitable embodiment of the invention, however, not limited to this, this can not changed Implement various modifications in the range of the purport of invention.

In the embodiment, under the face posture of the robot 1 shown in Fig. 1 and Fig. 2 (A), by the first joint portion 2A The axle center of rigid internal-gear 16 and the axle center of the second arm 3B be configured on same straight line, but can also be in the face of robot 1 Under posture, the axle center of the axle center of the rigid internal-gear 16 of the first joint portion 2A and the second arm 3B same straight line is not configured at On.Such as it can also as shown in Figure 5, Figure 6, under the face posture of robot 1, not by the rigid internal tooth of the first joint portion 2A The axle center of gear 16 and the axle center of the second arm 3B are configured on same straight line, and not by the rigid internal-gear of the first joint portion 2A The axle center of the rigid internal-gear 16 of 16 axle center and the 6th joint portion 2F is configured on same straight line.At this point, the second arm 3B Length can also become the length of the first arm 3A or more.

Moreover, for example can also as shown in Figure 7, Figure 8, under the face posture of robot 1, by the first joint portion 2A's The axle center of the rigid internal-gear 16 in the axle center and the 6th joint portion 2F of rigid internal-gear 16 is configured on same straight line.This When, such as shown in Figure 7, it is thicker than the coupling member 63 of the embodiment via the axial thickness of third joint 2C The coupling member 63 of (length is longer), by the flange of the mounting surface 41b of the shell 11 of the 4th joint portion 2D and third joint 2C Portion 27a is fixed.Alternatively, can also be as shown in Figure 8, via as having specific thickness in the axial direction of second joint portion 2B The coupling member 64 of first coupling member of (length), by the mounting surface 41b and second joint of the shell 11 of the first joint portion 2A The flange part 27a of portion 2B is fixed.

In the embodiment, the first arm 3A and third joint 2C are with the longitudinally of the first arm 3A and third joint The mode that the axial direction of portion 2C is orthogonal links, and the front end of the first arm 3A is fixed on to the shell 11 of third joint 2C.Moreover, the 4th Joint portion 2D and the second arm 3B be link in such a way that the longitudinally of the axial direction of the 4th joint portion 2D and the second arm 3B are consistent, and And the cardinal extremity of the second arm 3B is fixed on to the flange part 27a of the 4th joint portion 2D.In addition to this, for example, can also as shown in Figure 6 that Sample, by the first arm 3A and third joint 2C in such a way that the axial direction of the longitudinally of the first arm 3A and third joint 2C is consistent Connection, and in the axial direction of the 4th joint portion 2D mode orthogonal with the longitudinally of the second arm 3B by the 4th joint portion 2D and second Arm 3B connection.At this point, the front end of the first arm 3A to be fixed on to the flange part 27a of third joint 2C, by third joint 2C's The mounting surface 41b and the flange part 27a of the 4th joint portion 2D of shell 11 are fixed, and the cardinal extremity of the second arm 3B is fixed on the 4th joint The shell 11 of portion 2D.Moreover, the 4th joint portion 2D becomes the other side at this point, third joint 2C becomes wherein side joint portion Joint portion.

Moreover, being by the mounting surface 41b of the shell 11 of the first joint portion 2A and second joint portion 2B in the embodiment Flange part 27a fix, and the cardinal extremity of the first arm 3A is fixed on to the shell 11 of second joint portion 2B, but can also be by the first joint The flange part 27a of portion 2A and the mounting surface 41b of the shell 11 of second joint portion 2B are fixed, and the cardinal extremity of the first arm 3A is fixed on The flange part 27a of second joint portion 2B.At this point, second joint portion 2B becomes, wherein side joint portion, the first joint portion 2A become Other side joint portion.

Moreover, being the front end of the second arm 3B to be fixed on to the shell 11 of the 5th joint portion 2E, and incite somebody to action in the embodiment The mounting surface 41b and the flange part 27a of the 5th joint portion 2E of the shell 11 of 6th joint portion 2F are fixed, but can also be by the second arm 3B Front end be fixed on the flange part 27a of the 5th joint portion 2E, and by the mounting surface 41b and the 6th of the shell 11 of the 5th joint portion 2E The flange part 27a of joint portion 2F is fixed.At this point, the 5th joint portion 2E becomes, wherein side joint portion, the 6th joint portion 2F become Other side joint portion.

It is by the convex of the mounting surface 41b of the shell 11 of the first joint portion 2A and second joint portion 2B in the embodiment Edge 27a is directly fixed, but can also be as described, via coupling member 64 by the mounting surface 41b of the first joint portion 2A and the The flange part 27a of two joint portion 2B is fixed (referring to Fig. 8).It equally, is by the shell of the 6th joint portion 2F in the embodiment The flange part 27a of 11 mounting surface 41b and the 5th joint portion 2E are directly fixed, but can also be via the axial direction in the 5th joint portion 2E The upper third coupling member with specific thickness, by the flange part of the mounting surface 41b of the 6th joint portion 2F and the 5th joint portion 2E 27a is fixed.Moreover, in the embodiment, via coupling member 63 by the mounting surface 41b of the shell 11 of the 4th joint portion 2D with The flange part 27a of third joint 2C is fixed, but can also be by the convex of the mounting surface 41b of the 4th joint portion 2D and third joint 2C Edge 27a is directly fixed.

In the embodiment, third joint 2C has identical structure with the first joint portion 2A and second joint portion 2B, But third joint 2C can also have identical structure with the 5th joint portion 2E and the 6th joint portion 2F.Moreover, the embodiment In, the 4th joint portion 2D and the 5th joint portion 2E and the 6th joint portion 2F have an identical structure, but the 4th joint portion 2D can also be with First joint portion 2A and second joint portion 2B has identical structure.Moreover, third joint 2C and the 4th joint portion 2D can also be made With identical structure, and third joint 2C and the 4th joint portion 2D is less than the first joint portion 2A and second joint portion 2B, and Greater than the 5th joint portion 2E and the 6th joint portion 2F.Moreover, the size of the size of the first joint portion 2A and second joint portion 2B Can be different, the size of the 5th joint portion 2E can also be different from the size of the 6th joint portion 2F, and six joint portions 2 can also be made all Same size.

In the embodiment, rigid internal-gear 16 becomes the output shaft of speed reducer 8, but can also make flexible external tooth tooth Wheel 17 becomes the output shaft of speed reducer 8.At this point, rigid internal-gear 16 is fixed in shell 11 and crossed roller bearing 19 19a is taken turns, flexible external gear 17 is fixed on the foreign steamer 19b of crossed roller bearing 19 and exports the flange part of side member 27 27a.Moreover, robot 1 has three biaxial joint units 6, but the twin shaft that robot 1 has closes in the embodiment The quantity for saving unit 6 may be either two, can also be four or more.At this point, robot 1 has the quantity with biaxial joint unit 6 The arm 3 of corresponding item number.Moreover, in the embodiment, robot 1 is industrial robot, but robot 1 be applicable to it is various Purposes.For example, robot 1 can also be service robot.

The explanation of symbol

1：Robot (industrial robot)

2：Joint portion

2A：First joint portion (wherein side joint portion)

2B：Second joint portion (other side joint portion)

2C：Third joint (other side joint portion)

2D：4th joint portion (wherein side joint portion)

2E：5th joint portion (other side joint portion)

2F：6th joint portion (wherein side joint portion)

3：Arm

3A：First arm

3B：Second arm

4：Supporting member

6：Biaxial joint unit

6A：Base end side biaxial joint unit

6B：Intermediate biaxial joint unit

6C：Front end side biaxial joint unit

7：Motor

8：Speed reducer

11：Shell

13：Shaft

16：Rigid internal-gear (output shaft of speed reducer)

20：Input shaft

27：Export side member

27a：Flange part

41a：Opening portion

41b：Mounting surface

63：Coupling member (the second coupling member)

64：Coupling member (the first coupling member)

Claims

1. a kind of robot, including multiple biaxial joint units being made of two joint portions, and including will be described in two The arm of the elongate shape of biaxial joint unit connection, and it is characterized in that,

The joint portion include motor, the speed reducer for being linked to the motor, be fixed on the speed reducer output shaft output Side member and the shell for accommodating the motor and the speed reducer,

The motor and the speed reducer are fixed on the shell,

The shaft of the motor, the input shaft of the speed reducer and the output shaft are configured on coaxial,

It is formed with the opening portion being open along the direction orthogonal with the axial direction of the output shaft on the housing, and is opened described Oral area is formed with the planar mounting surface orthogonal with the opening direction of the opening portion,

The output side member includes the flange part for being formed as outside that is circular and being configured at the shell,

If a joint portion in two joint portions for constituting the biaxial joint unit is set as wherein side pass Another joint portion is set as other side joint portion by section portion,

Then with the output shaft of the axial direction of the output shaft of the wherein side joint portion and the other side joint portion Axial orthogonal mode, by the flange part of the mounting surface of the wherein side joint portion and the other side joint portion It is fixed via the coupling member in the axial direction of the output shaft of the other side joint portion with specific thickness or direct It is fixed,

In the longitudinally of the arm mode orthogonal with the axial direction of the output shaft of the other side joint portion by the arm It is installed on the joint portion.

2. robot according to claim 1, which is characterized in that the support including constituting the base end portion of the robot Component, and the arm include the first arm and the second arm, and the biaxial joint unit include be configured at the supporting member with Base end side biaxial joint unit between first arm, the intermediate twin shaft being configured between first arm and second arm Joint unit and be installed on second arm front end front end side biaxial joint unit,

In the front end side biaxial joint unit, the front end of second arm is fixed on to the shell of the other side joint portion Body, and end effector can be installed in the flange part of the wherein side joint portion.

3. robot according to claim 2, which is characterized in that by described in the base end side biaxial joint unit wherein The output side member of side joint portion is fixed on the supporting member, and the cardinal extremity of first arm is fixed on the cardinal extremity It is double to be fixed on the centre by the shell of the other side joint portion of side biaxial joint unit for the front end of first arm The shell of the other side joint portion of axis joint unit, and the cardinal extremity of second arm is fixed on the centre pair The flange part of the wherein side joint portion of axis joint unit,

Relative to the supporting member, the base end side biaxial joint unit can be described in the base end side biaxial joint unit Wherein the axial of the output shaft of side joint portion is axially relatively rotated as rotation,

Relative to first arm, second arm can be with the institute of the other side joint portion of the intermediate biaxial joint unit It states the axial axial as rotation of output shaft, and is including wherein side joint portion described in the base end side biaxial joint unit The output shaft axle center plane on relatively rotate,

Relative to the intermediate biaxial joint unit, second arm can be axial using the longitudinally of second arm as rotation And it relatively rotates.

4. robot according to claim 3, which is characterized in that second arm is more shorter than first arm, to avoid The wherein side joint portion of the base end side biaxial joint unit is described another with the front end side biaxial joint unit The interference in lateral joint portion.

5. robot according to claim 2, which is characterized in that the base end side biaxial joint unit, the centre are double Axis joint unit and the front end side biaxial joint unit at least any one, will be described in all biaxial joint units The axle center of the output shaft of joint portion is configured on same plane, and the base end side biaxial joint unit and the front end side Under the immediate face posture of biaxial joint unit, by wherein side joint portion described in the base end side biaxial joint unit The output shaft axle center and the front end side biaxial joint unit the wherein side joint portion the output shaft Axle center is configured at the mode on same straight line, has the coupling member.

6. robot according to any one of claim 1 to 5, which is characterized in that possessed by all joint portions The reduction ratio of all speed reducers is equal to each other.

7. a kind of robot, including the first joint portion, second joint portion, third joint, the 4th joint portion, the 5th joint portion, Second arm of the 6th joint portion, the first arm of elongate shape and elongate shape, and it is characterized in that,

Supporting member including constituting the base end portion of the robot,

First joint portion, the second joint portion, the third joint, the 4th joint portion, the 5th joint Portion and the 6th joint portion respectively include motor, the speed reducer for being linked to the motor, the output for being fixed on the speed reducer The output side member of axis and the shell for accommodating the motor and the speed reducer,

The motor and the speed reducer are fixed on the shell,

It is orthogonal with the axial direction of the output shaft in the second joint portion with the axial direction of the output shaft of first joint portion Mode, by the flange part in the mounting surface of first joint portion and the second joint portion via described second There is the first coupling member of specific thickness in the axial direction of the output shaft of joint portion and fix or directly fix, thus constitute Base end side biaxial joint unit,

It is orthogonal with the axial direction of the output shaft of the 4th joint portion with the axial direction of the output shaft of the third joint Mode, by the flange part of the mounting surface of the 4th joint portion and the third joint via in the third There is the second coupling member of specific thickness in the axial direction of the output shaft of joint portion and fix or directly fix, thus constitute Intermediate biaxial joint unit,

It is orthogonal with the axial direction of the output shaft of the 6th joint portion with the axial direction of the output shaft of the 5th joint portion Mode, by the flange part of the mounting surface of the 6th joint portion and the 5th joint portion via the described 5th There is the third coupling member of specific thickness in the axial direction of the output shaft of joint portion and fix or directly fix, thus constitute Front end side biaxial joint unit,

The output side member of first joint portion is fixed on the supporting member,

The base end side biaxial joint unit and first arm be with the axial direction of the output shaft in the second joint portion with The mode that the longitudinally of first arm is orthogonal links, and the cardinal extremity of first arm is fixed on the second joint portion The shell,

First arm and the intermediate biaxial joint unit are with the longitudinally of first arm and the third joint The orthogonal mode of axial direction of the output shaft link, and the third joint is fixed in the front end of first arm The shell,

The intermediate biaxial joint unit and second arm are with the axial direction of the output shaft of the 4th joint portion and institute The consistent mode of longitudinally for stating the second arm links, and the cardinal extremity of second arm is fixed on the 4th joint portion The output side member,

Second arm and the front end side biaxial joint unit are with the longitudinally of second arm and the 5th joint The mode that the axial direction of the output shaft in portion is orthogonal links, and the 5th joint portion is fixed in the front end of second arm The shell,

On the output side member of the 6th joint portion, end effector can be installed.

8. robot according to claim 7, which is characterized in that relative to first arm, second arm can be with institute The axial axial as rotation of the output shaft of third joint is stated, and in the output shaft comprising first joint portion Axle center plane on relatively rotate.

9. robot according to claim 8, which is characterized in that second arm is more shorter than first arm, to avoid The interference of first joint portion and the 5th joint portion.

10. robot according to any one of claims 7 to 9, which is characterized in that first joint portion and described the Two joint portions have identical structure,

5th joint portion has identical structure with the 6th joint portion,

5th joint portion and the 6th joint portion are less than first joint portion and the second joint portion.

11. robot according to claim 10, which is characterized in that the third joint and first joint portion and The second joint portion has identical structure,

4th joint portion has identical structure with the 5th joint portion and the 6th joint portion,

First arm and second arm are formed as cylindric,

The outer diameter of second arm is less than the outer diameter of first arm.

12. robot according to claim 7, which is characterized in that by the output shaft of first joint portion Axle center, the axle center of the output shaft in the second joint portion, the third joint the output shaft axle center, described The axle center of the output shaft of four joint portions, the 5th joint portion the output shaft axle center and the 6th joint portion The axle center of the output shaft is configured on same plane, and the base end side biaxial joint unit and the front end side twin shaft close It saves under the immediate face posture of unit, by the axle center of the output shaft of first joint portion and the 6th joint portion The axle center of the output shaft be configured at the mode on same straight line, including first coupling member and the second connection structure At least either of part.